% Copyright 2020 Makani Technologies LLC
%
% Licensed under the Apache License, Version 2.0 (the "License");
% you may not use this file except in compliance with the License.
% You may obtain a copy of the License at
%
%      http://www.apache.org/licenses/LICENSE-2.0
%
% Unless required by applicable law or agreed to in writing, software
% distributed under the License is distributed on an "AS IS" BASIS,
% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
% See the License for the specific language governing permissions and
% limitations under the License.

function [dx, out] = ins_correct_do(p, xhat, dx, inputs, sv, obs, out, mm);
[H, R, dy] = ins_output_do(p, xhat, inputs, sv, obs);
[dx, out] = ins_dx_correct(p, dx, H, R, dy, 3*3, obs.t_obs, out, mm);
